88 lines
2.5 KiB
Python
88 lines
2.5 KiB
Python
import cv2
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import mediapipe as mp
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from pymodbus.client import ModbusTcpClient
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# 初始化 Modbus TCP 客戶端
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client = ModbusTcpClient('169.254.11.8', port=502)
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client.unit_id = 255 # 設定 Modbus Slave ID（通常是 1 或 255）
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# 嘗試連線 PLC
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if not client.connect():
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print("❌ 無法連接 PLC，請確認 IP 與 Slave 模式是否開啟")
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exit()
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print("✅ 已連接 PLC")
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# 初始化 MediaPipe 手部辨識
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mp_hands = mp.solutions.hands
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hands = mp_hands.Hands(max_num_hands=1)
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mp_draw = mp.solutions.drawing_utils
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# 開啟攝影機
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cap = cv2.VideoCapture(0)
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def count_fingers(hand_landmarks):
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fingers = []
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# 拇指（以右手為例）
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if hand_landmarks.landmark[4].x < hand_landmarks.landmark[3].x:
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fingers.append(1)
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else:
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fingers.append(0)
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# 其他手指
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for tip_id in [8, 12, 16, 20]:
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if hand_landmarks.landmark[tip_id].y < hand_landmarks.landmark[tip_id - 2].y:
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fingers.append(1)
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else:
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fingers.append(0)
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return fingers
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# 各手勢定義
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def is_thumb_up(fingers): return fingers == [1, 0, 0, 0, 0]
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def is_fist(fingers): return fingers == [1, 1, 1, 1, 1]
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def is_speed3_custom(fingers): return fingers == [0, 1, 1, 1, 0] # 食+中+無名指
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while True:
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success, frame = cap.read()
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if not success:
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break
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frame = cv2.flip(frame, 1) # 左右反轉
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rgb_frame = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB)
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result = hands.process(rgb_frame)
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if result.multi_hand_landmarks:
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for hand_landmarks in result.multi_hand_landmarks:
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mp_draw.draw_landmarks(frame, hand_landmarks, mp_hands.HAND_CONNECTIONS)
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fingers = count_fingers(hand_landmarks)
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if is_thumb_up(fingers):
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print("👍 啟動")
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client.write_register(address=1632, value=1, slave=255) # 啟動信號 (motion_go)
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elif is_fist(fingers):
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print("✊ 停止")
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client.write_register(address=1632, value=0, slave=255) # 停止速度 (py_Value)
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elif is_speed3_custom(fingers):
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print("🤟 速度 = 3")
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client.write_register(address=1631, value=3, slave=255)
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else:
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speed = sum(fingers)
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if 1 <= speed <= 4:
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print(f"🤚 速度 = {speed}")
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client.write_register(address=1631, value=speed, slave=255)
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cv2.imshow("Hand Detection", frame)
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if cv2.waitKey(1) & 0xFF == ord('q'):
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break
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cap.release()
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cv2.destroyAllWindows()
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client.close()
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